Publication

Application

Priority

US 9617737 W 19961105

US 56009195 A 19951117

Abstract (en)

[origin: WO9719440A1] A method and apparatus for interfacing the motion of a user-manipulable object (44) with an electrical or computer system (16). A gimbal mechanism (38) is coupled to the user object (44), such as a joystick or a medical tool, with at least two degrees of freedom. The gimbal mechanism (38) preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator (126) applies a force along a degree of freedom to the user object (44) in response to electrical signals produced by the computer sytem (16). A sensor (42) detects the position of the user object (44) and outputs sensor signals to the computer system (16). Another embodiement includes a local processor (410) separate from a host computer (16) for communicating with the host computer (16) and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus (14) uses voice coil actuators (126) that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic field.